Co-manipulation Surgical Robot Arm Actuated Setup Joints
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Solution Overview
Problem
Current laparoscopic surgical procedures face challenges in managing vision and access, with existing systems requiring extensive manual interaction and being limited by the need for complex, expensive robot-assisted systems that restrict the use of standard surgical instruments.
Innovation Solution
A co-manipulation surgical system with a robot arm that can be coupled to surgical instruments, featuring a controller that automatically switches between modes to maintain a static position, apply impedance, and adjust movement based on force and position, allowing seamless positioning and manipulation of instruments while accounting for the weight of the instruments and robot arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If complex robot-assisted systems are used to enhance laparoscopic procedures, then surgical precision and automation are improved, but system cost, footprint, and complexity increase significantly
Solution Approach 1:
The patent extracts the essential automation function from complex robot-assisted systems and implements it through a simpler robotic arm system that can be integrated into existing laparoscopic setups. The system provides automated positioning and impedance control without requiring the full complexity of traditional robot-assisted surgical systems, thereby reducing overall system complexity while maintaining automation benefits
Solution Approach 2:
The robotic arm system is designed to work with standard off-the-shelf surgical instruments rather than requiring proprietary system-specific instruments. This universal approach allows the system to enhance existing laparoscopic procedures without requiring surgeons to learn entirely new workflows, reducing operational complexity while maintaining automation capabilities
2Stability of the object's composition
If rail-mounted orthopedic retractors are used to hold surgical instruments in position, then instrument stability is improved, but manual interaction requirements and setup time increase
Solution Approach 1:
The robotic arm system performs preliminary positioning actions automatically, eliminating the need for manual unlocking, repositioning, and locking of instruments. The system can pre-position instruments and maintain them in optimal positions throughout the procedure, providing both stability and ease of operation by reducing manual interaction requirements
Solution Approach 2:
The system incorporates sensors and controllers that provide real-time feedback on instrument position and forces applied. This feedback mechanism allows the robotic arm to automatically adjust and maintain instrument stability while responding to surgeon inputs, thereby reducing the manual interaction required compared to mechanical rail-mounted systems
3Manufacturing precision
If the robot arm maintains static position in passive mode, then surgical precision is improved, but responsiveness to surgeon input decreases
Solution Approach 1:
The robotic arm system dynamically switches between passive mode (for precision during critical surgical moments) and co-manipulation mode (for responsive movement during instrument manipulation). This dynamic mode switching allows the system to provide both surgical precision and responsiveness as needed, resolving the contradiction between maintaining static position and responding to surgeon input
4Stability of the object's composition
If impedance is applied to the robot arm in co-manipulation mode, then control stability is improved, but movement fluidity decreases
Solution Approach 1:
The system dynamically adjusts impedance parameters based on the surgical context and surgeon inputs. During phases requiring stability (such as when the surgeon needs precise control), higher impedance is applied. During phases requiring fluidity (such as initial instrument positioning), lower impedance is applied. This parameter adjustment resolves the contradiction between control stability and movement fluidity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enhances control and stability during laparoscopic surgery, enabling seamless positioning and manipulation of surgical instruments, reducing the need for extensive manual interaction and allowing the use of standard instruments, thereby improving surgical efficiency and safety.
Implementation Method 1
actuated to cause rotation of a distal link of the plurality of links adjacent to the setup joint relative to a proximal link of the plurality of links adjacent to the setup joint
Implementation Method 2
the controller may be programmed to apply a first impedance to the robot arm in the co-manipulation mode to account for weight of the surgical instrument and the robot arm
Implementation Method 3
apply a first impedance to the robot arm in the co-manipulation mode to account for weight of the surgical instrument and the robot arm
Data Source
AI summary
Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.